Duplication of Modules Facilitates the Evolution of Functional Specialization

The evolution of simulated robots with three different architectures is studied in this article. We compare a nonmodular feed-forward network, a hardwired modular, and a duplication-based modular motor control network. We conclude that both modular architectures outperform the non-modular architecture, both in terms of rate of adaptation as well as the level of adaptation achieved. The main difference between the hardwired and duplication-based modular architectures is that in the latter the modules reached a much higher degree of functional specialization of their motor control units with regard to high-level behavioral functions. The hardwired architectures reach the same level of performance, but have a more distributed assignment of functional tasks to the motor control units. We conclude that the mechanism through which functional specialization is achieved is similar to the mechanism proposed for the evolution of duplicated genes. It is found that the duplication of multifunction...

• Type: Journal
• Year: 2000
• Where: ALIFE
• Authors: Raffaele Calabretta, Stefano Nolfi, Domenico Parisi, Günter P. Wagner
• Keywords: ALIFE 2000, ALIFE 2007, Architectures, Functional Specialization, Motor Control